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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
9a6a608b
Commit
9a6a608b
authored
5 years ago
by
Joan Solà Ortega
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Do not correct delta in CaptureMotion
parent
bfa42056
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1 merge request
!366
Resolve "Complete state vector new data structure?"
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2 changed files
include/core/capture/capture_motion.h
+0
-2
0 additions, 2 deletions
include/core/capture/capture_motion.h
src/capture/capture_motion.cpp
+0
-20
0 additions, 20 deletions
src/capture/capture_motion.cpp
with
0 additions
and
22 deletions
include/core/capture/capture_motion.h
+
0
−
2
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9a6a608b
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@@ -88,8 +88,6 @@ class CaptureMotion : public CaptureBase
MatrixXd
getJacobianCalib
(
const
TimeStamp
&
_ts
)
const
;
// Get delta preintegrated, and corrected for changes on calibration params
VectorXd
getDeltaCorrected
(
const
VectorXd
&
_calib_current
)
const
;
VectorXd
getDeltaCorrected
(
const
VectorXd
&
_calib_current
,
const
TimeStamp
&
_ts
)
const
;
VectorXd
getDeltaPreint
()
const
;
VectorXd
getDeltaPreint
(
const
TimeStamp
&
_ts
)
const
;
MatrixXd
getDeltaPreintCov
()
const
;
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src/capture/capture_motion.cpp
+
0
−
20
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9a6a608b
...
...
@@ -51,26 +51,6 @@ CaptureMotion::~CaptureMotion()
//
}
Eigen
::
VectorXd
CaptureMotion
::
getDeltaCorrected
(
const
VectorXd
&
_calib_current
)
const
{
VectorXd
calib_preint
=
getCalibrationPreint
();
VectorXd
delta_preint
=
getBuffer
().
back
().
delta_integr_
;
MatrixXd
jac_calib
=
getBuffer
().
back
().
jacobian_calib_
;
VectorXd
delta_error
=
jac_calib
*
(
_calib_current
-
calib_preint
);
VectorXd
delta_corrected
=
correctDelta
(
delta_preint
,
delta_error
);
return
delta_corrected
;
}
Eigen
::
VectorXd
CaptureMotion
::
getDeltaCorrected
(
const
VectorXd
&
_calib_current
,
const
TimeStamp
&
_ts
)
const
{
Motion
motion
=
getBuffer
().
getMotion
(
_ts
);
VectorXd
delta_preint
=
motion
.
delta_integr_
;
MatrixXd
jac_calib
=
motion
.
jacobian_calib_
;
VectorXd
delta_error
=
jac_calib
*
(
_calib_current
-
calib_preint_
);
VectorXd
delta_corrected
=
correctDelta
(
delta_preint
,
delta_error
);
return
delta_corrected
;
}
bool
CaptureMotion
::
containsTimeStamp
(
const
TimeStamp
&
_ts
,
double
_time_tolerance
)
{
// the same capture is within tolerance
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